CN107894212A - A kind of camera distance computing system, method and device - Google Patents
A kind of camera distance computing system, method and device Download PDFInfo
- Publication number
- CN107894212A CN107894212A CN201711115774.9A CN201711115774A CN107894212A CN 107894212 A CN107894212 A CN 107894212A CN 201711115774 A CN201711115774 A CN 201711115774A CN 107894212 A CN107894212 A CN 107894212A
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- Prior art keywords
- shooting
- distance
- hot spot
- photo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/14—Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
Abstract
A kind of shooting distance computing system provided in an embodiment of the present invention, method and device, the system include：Device for shooting, the laser and processor for being fixed on the device for shooting side；Using laser hot spot is formed on target shooting face, device for shooting shoots face to the target for including hot spot and shot, and obtains including the photo of hot spot, and the image height of hot spot is calculated according to photo, according to the image height of default thing high, default focal length and hot spot, shooting distance is calculated；Wherein, the image height represents hot spot to the horizontal range at the photo center, and the thing is high to represent the laser to the distance at the device for shooting center.Therefore, solve in the prior art, the problem of shooting distance can not be measured when unmanned plane is shot.
Description
Technical field
The present invention relates to distance exam field, more particularly to a kind of camera distance computing system, method and device.
Background technology
With the method for science and technology, unmanned plane is applied to industry-by-industry, such as is carrying out concrete construction crack inspection
During survey, can be detected using unmanned plane, not only speed is fast but also operation is flexible, but when carrying out data processing, it is necessary to
Know the shooting distance of unmanned plane.
Traditional distance-finding method is measured using ruler or rangefinder, and ruler is usually to be surveyed by manpower
Amount, is not suitable for unmanned plane；And rangefinder is usually that range measurement is carried out in the state of fixation, but unmanned plane measures
When, camera needs the rotational angle at moment to observe surrounding environment to protect inherently safe and find disease position, therefore
Camera is likely to be at different postures when taking pictures, and can not make rangefinder in the state of fixing, therefore unmanned plane is carried out
During detection, rangefinder can not be used to carry out the measurement of shooting distance.
The content of the invention
In view of this, the embodiment of the invention discloses a kind of shooting distance computing system, method and device, realize, solve
Determine when being shot in the prior art by unmanned plane, the problem of shooting distance can not be measured.
The embodiment of the invention discloses a kind of shooting distance computing system, the system includes：
Device for shooting, the laser and processor for being fixed on the device for shooting side；
The laser is used to launch dot laser to target shooting face, to form hot spot on the target shooting face；
The light beam of the laser transmitting is parallel with the optical axis of the device for shooting；
The device for shooting is used to take pictures to the target shooting face comprising the hot spot, obtains including the photo of hot spot；
The processor is used to calculating the image height of hot spot in the photo, and according to the high and default focal length of default thing,
Calculate shooting distance；The image height represents the hot spot to the horizontal range at the photo center, and the thing is high to represent described sharp
Distance of the light device to the device for shooting center.
Optionally, the processor is specifically used for：
Calculate number of pixels of the spot center in the horizontal direction at the photo center；
According to number of pixels of the spot center in the horizontal direction at the photo center and default device for shooting
Parameter, calculate the image height of the hot spot；
Image height, default thing according to the hot spot be high, default focal length and image-forming principle, establishes apart from computation model；
According to described apart from computation model, calculate the device for shooting eyeglass to first distance in target shooting face and
Second distance of the device for shooting egative film to the device for shooting eyeglass；
First distance is added with the second distance, obtains shooting distance.
A kind of shooting distance computational methods, methods described include disclosed in the embodiment of the present invention：
Launch dot laser to target shooting face, to form hot spot on the target shooting face；
Target shooting face comprising the hot spot is taken pictures, obtains including the photo of the hot spot；
Calculate the image height of hot spot in the photo；The image height represent the hot spot to the photo center level away from
From；
According to the image height of the hot spot, the high and default focal length of default thing, shooting distance is calculated；The thing is high to represent institute
Laser is stated to the distance at the device for shooting center.
Optionally, the image height for calculating hot spot in the photo, including：
Calculate number of pixels of the spot center in the horizontal direction at the photo center；
Transfer default device for shooting parameter；
According to number of pixels of the spot center in the horizontal direction at the photo center and the default bat
Device parameter is taken the photograph, calculates the image height of the hot spot.
Optionally, the high and default focal length of image height, default thing according to the hot spot, shooting distance, bag are calculated
Include：
Image height, default thing according to the hot spot be high, default focal length and image-forming principle, establishes apart from computation model；
According to described apart from computation model, the device for shooting eyeglass is calculated to first distance in target shooting face, with
And the device for shooting egative film is to the second distance of the device for shooting eyeglass；
First distance is added with the second distance, obtains shooting distance.
A kind of shooting distance computing device, described device include disclosed in the embodiment of the present invention：
Dot laser transmitter unit, for launching dot laser to target shooting face, to be formed on the target shooting face
Hot spot；
Photographing unit, for being taken pictures to the target shooting face comprising the hot spot, obtain including the photograph of the hot spot
Piece；
First computing unit, calculate the image height of hot spot in the photo；The image height represents the hot spot to the photograph
The horizontal range at center；
Second computing unit, for the image height according to the hot spot, the high and default focal length of default thing, calculate shooting away from
From；The thing is high to represent the laser to the distance at the device for shooting center.
Optionally, first computing unit, including：
First computation subunit, for calculating pixel of the spot center in the horizontal direction at the photo center
Number；Unit is transferred, for transferring default acquisition parameters；
Second computation subunit, for the pixel according to the spot center apart from the horizontal direction at the photo center
Number and the default device for shooting parameter, calculate the image height of the hot spot.
Optionally, second computing unit, including；
Model establishes subelement, and for the image height according to the hot spot, default thing is high, default focal length and imaging are former
Reason, is established apart from computation model；
3rd computation subunit, for, apart from computation model, calculating the device for shooting eyeglass to the target according to described
First distance in shooting face, and the device for shooting egative film is to the second distance of the device for shooting eyeglass；
4th computation subunit, for first distance to be added with the second distance, obtain shooting distance.
The embodiment of the invention discloses a kind of shooting distance computing system, method and device, the system includes：Device for shooting,
It is fixed on the laser and processor of the device for shooting side；Hot spot is formed on target shooting face using laser, is shot
Device shoots face to the target for including hot spot and shot, and obtains including the photo of hot spot, and the picture of hot spot is calculated according to photo
Height, according to the image height of default thing high, default focal length and hot spot, calculate shooting distance；Wherein, the image height represents that hot spot arrives
The horizontal range at the photo center, the thing is high to represent the laser to the distance at the device for shooting center.Therefore, solve
In the prior art, the problem of can not measuring shooting distance when unmanned plane is shot.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
The embodiment of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
The accompanying drawing of offer obtains other accompanying drawings.
Fig. 1 shows the structural representation of capture apparatus in a kind of shooting distance computing system provided in an embodiment of the present invention
Structural representation；
Fig. 2 shows the schematic diagram of image height provided in an embodiment of the present invention；
Fig. 3 shows one kind provided in an embodiment of the present invention apart from computation model schematic diagram；
Fig. 4 shows a kind of schematic flow sheet of shooting distance computational methods provided in an embodiment of the present invention；
Fig. 5 shows a kind of structural representation of shooting distance computing device provided in an embodiment of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
With reference to figure 1, the structure of capture apparatus in a kind of shooting distance computing system provided in an embodiment of the present invention is shown
Schematic diagram, in the present embodiment, the system include：
Device for shooting 100, the laser 200 and processor for being fixed on the device for shooting side；
The laser 200 is used to launch dot laser to target shooting face, to form light on the target shooting face
Spot；The light beam of the laser transmitting is parallel with the optical axis of the device for shooting 100；
The device for shooting 100 is used to, to taking pictures comprising hot spot target shooting face, obtain including the photo of hot spot；
The processor is used to calculating the image height of hot spot in the photo, and according to the high and default focal length of default thing,
Calculate shooting distance；The image height represents the hot spot to the horizontal range at the photo center, and the thing is high to represent described sharp
Light device 200 arrives the distance of the device for shooting 100.
, it is necessary to explanation in the present embodiment, target shooting face can be regarded as device for shooting need the target object that shoots or
Plane where person's target object.Illustrate：When use unmanned plane carries out the detection in concrete construction crack, can incite somebody to action
Device for shooting 100 is fixed on unmanned plane, and unmanned plane is when detecting crack, the plane residing for the position in the crack or the crack
As target shooting face, before device for shooting 100 is taken pictures, laser 200 launches dot laser, is formed on target shooting face
Hot spot, device for shooting 100 shoot face to the target for including hot spot and taken pictures.
Illustrate：Device for shooting 100 can be camera, mobile phone, shooting it is first-class all can be used for shoot photo terminal.
Illustrate：Processor 300 can include：PC, mobile phone, IPAD etc. all can perform the terminal of calculation procedure.
In the present embodiment, the specific operation process that processor 300 performs includes：
Calculate number of pixels of the spot center in the horizontal direction at the photo center；
According to number of pixels of the spot center in the horizontal direction at the photo center and default device for shooting
Parameter, calculate the image height of the hot spot；
Image height, default thing according to the hot spot be high, default focal length and image-forming principle, establishes apart from computation model；
According to described apart from computation model, calculate the device for shooting eyeglass to first distance in target shooting face and
Second distance of the device for shooting egative film to the device for shooting eyeglass；
First distance is added with the second distance, obtains shooting distance.
It should be noted that device for shooting eyeglass can be lens, device for shooting egative film can be the electronic chip of recording image,
Such as can be CCD chip or COMS chips.
In the present embodiment, the parameter preset of device for shooting includes：Size, focal length, the resolution ratio of camera of camera imaging unit.
Before processor is handled the picture data after shooting, preserved the parameter of device for shooting, or, can also with
During to these parameters, technical staff is input in processor.
On the basis of the above parameter, the size for the actual range that a pixel in photo represents is calculated, so
Afterwards further according to the number of pixel, laser spot is obtained in photo to the horizontal range at the photo center.
, it is necessary to explanation, the distance and the water of hot spot to photo center of laser to device for shooting center in the present embodiment
Flat distance is corresponding, i.e., thing high (as shown in Figure 1) and image height (as shown in Figure 2) they are corresponding, specifically, it is appreciated that
For image height equivalent to thing high pass camera into picture, according to image-forming principle, can establish apart from computation model, and according to the distance
Computation model calculates shooting distance.Specifically, as shown in figure 3, the schematic diagram apart from computation model is shown, so as to according to the mould
Type, device for shooting egative film is calculated to the first distance L of eyeglass1, and device for shooting eyeglass to target shooting face second distance L2, tool
Body, equation below 1) and formula 2) shown in：
1)
2)
Wherein, the H is distance of the high expression laser of thing to device for shooting center；The h is image height, represents hot spot to photograph
The horizontal range at piece center；F represents focal length.
Illustrate：L1It can be derived by following process：
As shown in triangle ABC,It follows thatTherefore
L2It can be derived by following process：
As shown in triangle AGC,It follows thatTherefore
Wherein, shooting distance is camera negative to the distance in shooting face, the shooting distance L=L1+L2.In the present embodiment,
Laser 200 can be fixed on any side of device for shooting 100, and laser can rotate with the rotation of device for shooting, but be
When ensureing that device for shooting is taken pictures, laser spot can be photographed, the light beam that laser 200 is launched should be put down with the optical axis of camera 100
OK.
In the present embodiment, a laser is fixed in device for shooting side, device for shooting can turn with the rotation of device for shooting
It is dynamic, and hot spot is formed on target shooting face using laser, device for shooting shoots face to the target for including hot spot and shot,
Obtain including the photo of hot spot, and the image height of hot spot is calculated from photo, according to default thing high, default focal length and hot spot
Image height, calculate shooting distance；Wherein, the image height represents laser spot to the horizontal range at the photo center, the high table of thing
Show the laser to the distance at the device for shooting center.Therefore, solve in the prior art, unmanned plane can not measure when shooting
The problem of shooting distance.
With reference to figure 4, a kind of schematic flow sheet of shooting distance computational methods provided in an embodiment of the present invention, the party are shown
Method is applied to above-mentioned shooting distance computing system, and system includes：Camera, the laser for being fixed on camera side and place
Manage device；
In the present embodiment, this method includes：
S401：Launch dot laser to target shooting face, to form hot spot on the target shooting face；
S402：Target shooting face comprising the hot spot is taken pictures, obtains including the photo of the hot spot；
S403：Calculate the image height of hot spot in the photo；The image height represents the hot spot to the water of the photo center
Flat distance；
S404：According to the image height of the hot spot, the high and default focal length of default thing, shooting distance is calculated；The thing is high
Represent the laser to the distance at the device for shooting center.
Wherein, hot spot is calculated to the distance at photo center, it is necessary to according to the relevant parameter of device for shooting, can specifically be wrapped
Include：Size, focal length, the resolution ratio of camera of camera imaging unit.On the basis of the above parameter, one is obtained in photo
The size for the actual range that pixel represents, then further according to the number of pixel, laser spot is obtained in photo to the photo center
Distance, specifically, S403 includes：
Calculate number of pixels of the spot center in the horizontal direction at the photo center；
Transfer default device for shooting parameter；
According to number of pixels of the spot center in the horizontal direction at the photo center and the default bat
Device parameter is taken the photograph, calculates the image height of the hot spot.
In the present embodiment, the distance of laser to device for shooting center is corresponding with hot spot to the horizontal range at photo center
, i.e., thing is high and image height is corresponding, specifically, can be understood as image height equivalent to thing high pass camera into picture, according to
It image-forming principle, can establish apart from computation model, and shooting distance is calculated apart from computation model according to this, specifically, S404 bags
Include：
Image height, default thing according to the hot spot be high, default focal length and image-forming principle, establishes apart from computation model；
According to described apart from computation model, the device for shooting eyeglass is calculated to first distance in target shooting face, with
And the device for shooting egative film is to the second distance of the device for shooting eyeglass；
First distance is added with the second distance, obtains shooting distance.
In the present embodiment, hot spot, device for shooting are formed on target shooting face using the laser for being fixed on device for shooting side
Face is shot to the target for including hot spot to shoot, obtains including the photo of hot spot, and the image height of hot spot is calculated from photo,
According to the high and default focal length of default thing, shooting distance is calculated；Wherein, the image height represents laser spot into the photo
The horizontal range of the heart, the thing is high to represent the laser to the distance at the device for shooting center.Therefore, solves prior art
In, the problem of shooting distance can not be measured when unmanned plane is shot.
With reference to figure 5, a kind of structural representation of shooting distance computing device provided in an embodiment of the present invention is shown, at this
In embodiment, the device includes：
Dot laser transmitter unit 501, for launching dot laser to target shooting face, with the shape on the target shooting face
Into hot spot；
Photographing unit 502, for being taken pictures to the target shooting face comprising the hot spot, obtain comprising the hot spot
Photo；
First computing unit 503, calculate the image height of hot spot in the photo；The image height represents the hot spot to the phase
The horizontal range at piece center；
Second computing unit 504, for the image height according to the hot spot, the high and default focal length of default thing, calculate and clap
Photographic range；The thing is high to represent the laser to the distance at the device for shooting center.
Optionally, first computing unit, including：
First computation subunit, for calculating pixel of the spot center in the horizontal direction at the photo center
Number；
Unit is transferred, for transferring default acquisition parameters；
Second computation subunit, for the pixel according to the spot center in the horizontal direction at the photo center
Number and the default device for shooting parameter, calculate the image height of the hot spot.
Optionally, second computing unit, including；
Model establishes subelement, and for the image height according to the hot spot, default thing is high, default focal length and imaging are former
Reason, is established apart from computation model；
3rd computation subunit, for, apart from computation model, calculating the device for shooting eyeglass to the target according to described
First distance in shooting face, and the device for shooting egative film is to the second distance of the device for shooting eyeglass；
4th computation subunit, for first distance to be added with the second distance, obtain shooting distance.
By the device of the present embodiment, light is formed on target shooting face using the laser for being fixed on device for shooting side
Spot, face is shot to the target for including hot spot and shot, obtains including the photo of hot spot, and the picture of hot spot is calculated from photo
Height, according to the high and default focal length of default thing, calculate shooting distance；Wherein, the image height represents laser spot to the photograph
The horizontal range at piece center, the thing is high to represent the laser to the distance at the device for shooting center.Therefore, solve existing
In technology, the problem of shooting distance can not be measured when unmanned plane is shot.
It should be noted that each embodiment in this specification is described by the way of progressive, each embodiment weight
Point explanation is all difference with other embodiment, between each embodiment identical similar part mutually referring to.
The foregoing description of the disclosed embodiments, professional and technical personnel in the field are enable to realize or using the present invention.
A variety of modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The most wide scope caused.
Claims (8)
- A kind of 1. shooting distance computing system, it is characterised in that including：Device for shooting, the laser and processor for being fixed on the device for shooting side；The laser is used to launch dot laser to target shooting face, to form hot spot on the target shooting face；It is described The light beam of laser transmitting is parallel with the optical axis of the device for shooting；The device for shooting is used to take pictures to the target shooting face comprising the hot spot, obtains including the photo of hot spot；The processor is used for the image height for calculating hot spot in the photo, and according to the high and default focal length of default thing, calculates Shooting distance；The image height represents the hot spot to the horizontal range at the photo center, and the thing is high to represent the laser To the distance at the device for shooting center.
- 2. system according to claim 1, it is characterised in that the processor is specifically used for：Calculate number of pixels of the spot center in the horizontal direction at the photo center；According to number of pixels of the spot center in the horizontal direction at the photo center and default device for shooting parameter, Calculate the image height of the hot spot；Image height, default thing according to the hot spot be high, default focal length and image-forming principle, establishes apart from computation model；According to described apart from computation model, the device for shooting eyeglass is calculated to first distance in target shooting face and described Second distance of the device for shooting egative film to the device for shooting eyeglass；First distance is added with the second distance, obtains shooting distance.
- 3. a kind of shooting distance computational methods, it is characterised in that methods described includes：Launch dot laser to target shooting face, to form hot spot on the target shooting face；Target shooting face comprising the hot spot is taken pictures, obtains including the photo of the hot spot；Calculate the image height of hot spot in the photo；The image height represents the hot spot to the horizontal range of the photo center；According to the image height of the hot spot, the high and default focal length of default thing, shooting distance is calculated；The thing is high to represent described sharp Distance of the light device to the device for shooting center.
- 4. according to the method for claim 3, it is characterised in that the image height for calculating hot spot in the photo, including：Calculate number of pixels of the spot center in the horizontal direction at the photo center；Transfer default device for shooting parameter；According to number of pixels of the spot center in the horizontal direction at the photo center and the default device for shooting Parameter, calculate the image height of the hot spot.
- 5. according to the method for claim 3, it is characterised in that image height, the default thing according to the hot spot it is high and Default focal length, shooting distance is calculated, including：Image height, default thing according to the hot spot be high, default focal length and image-forming principle, establishes apart from computation model；According to described apart from computation model, the device for shooting eyeglass is calculated to first distance in target shooting face, Yi Jisuo Device for shooting egative film is stated to the second distance of the device for shooting eyeglass；First distance is added with the second distance, obtains shooting distance.
- 6. a kind of shooting distance computing device, it is characterised in that described device includes：Dot laser transmitter unit, for launching dot laser to target shooting face, to form hot spot on the target shooting face；Photographing unit, for being taken pictures to the target shooting face comprising the hot spot, obtain including the photo of the hot spot；First computing unit, calculate the image height of hot spot in the photo；The image height represents the hot spot to the photo center Horizontal range；Second computing unit, for the image height according to the hot spot, the high and default focal length of default thing, calculate shooting distance； The thing is high to represent the laser to the distance at the device for shooting center.
- 7. device according to claim 6, it is characterised in that first computing unit, including：First computation subunit, for calculating the spot center pixel in the horizontal direction at the photo center Number；Unit is transferred, for transferring default acquisition parameters；Second computation subunit, for according to the spot center apart from the horizontal direction at the photo center number of pixels and The default device for shooting parameter, calculate the image height of the hot spot.
- 8. device according to claim 6, it is characterised in that second computing unit, including；Model establishes subelement, and for the image height according to the hot spot, default thing is high, default focal length and image-forming principle, builds Stand apart from computation model；3rd computation subunit, for, apart from computation model, calculating the device for shooting eyeglass according to described and being shot to the target First distance in face, and the device for shooting egative film is to the second distance of the device for shooting eyeglass；4th computation subunit, for first distance to be added with the second distance, obtain shooting distance.
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| CN201711115774.9A CN107894212A (en) | 2017-11-13 | 2017-11-13 | A kind of camera distance computing system, method and device |
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| CN201711115774.9A CN107894212A (en) | 2017-11-13 | 2017-11-13 | A kind of camera distance computing system, method and device |
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| CN109682316A (en) * | 2018-11-19 | 2019-04-26 | 湖北电鹰科技有限公司 | Distress in concrete recognition methods and system based on unmanned plane imaging |
| CN111683241A (en) * | 2019-03-11 | 2020-09-18 | 西安光启未来技术研究院 | Method and system for rapidly measuring distance of visual field blind area of camera |
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